| 摘要 |
A control system for guiding a vehicle over a floor. The system includes a narrow length of retroflective tape applied to the floor to define a path, an array of LED-phototransistor sensors to generate light toward the tape and generate sensor output signals proportional to the portion of the sensor fields of view occupied by the retroreflective tape. The output signal of each of the sensors is compared to a stair-step reference signal during a 10 millisecond cyclic time period and a binary output signal for each sensor is generated indicating whether the amplitude of the sensor output signal is above or below the changing threshold reference signal. The binary value of each of the sensor output signals is sampled once each millisecond during the time period and the binary values are combined to generate a byte for each sampling occasion. Each of the bytes corresponds to a location in a lookup table which includes interim vehicle lateral directional and displacement commands. The commands corresponding to each of the table location values generated during the 10 millisecond period are mathematically summed to generate a final vehicle command. Two lookup tables are provided for selectively following the left or right edge of the tape.
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